Compliant Whole-Body Control of Humanoid Robot - PowerPoint PPT Presentation

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  1. Compliant Whole-Body Controlof Humanoid Robot Taizo Yoshikawa Mechanics and Control

  2. Summary Compliant Whole-Body Control of Humanoid Robot Most robotic control is accomplished with a position control system. In this framework, a motion is designed for every task so that the robot can accomplish its motion by following the designed trajectory and an individual joint position command is calculated. However, in most cases, the position controller only account for the contact through the end-effector and the contacts through another link cannot be allowed. Moreover, the position controller cannot account for the dynamics of the system and is difficult to model the dynamics related with the contact in uniformed representation. One approach for addressing this problem is to use torque control. The input torques for the system can be designed to accomplish the desired task as well as to compensate for dynamic effect of the contact with the environment. This provides the robot with higher performance in position tracking as well as in compliant motion. Not only the controller but also the robotic system and hardware is also designed for position control. If humanoid robots are designed for torque, that is actuated by the torque command, and dynamics is accounted to control the robot, advanced motion control can be achieved. In this review, (i) compliant mechanism for upper-body control and (ii) passive and compliant balance controller are reviewed.

  3. Outline • Motivation / Background • Review 1 • Review 2 • Compliant Upper-Body Control • Passive Lower-Body Control

  4. Background Current Humanoid Robot • Cognitive/Learning Type • Task Execution Type i-cub kotaro HRP TWENDY-ONE robobee • Actroid • Demonstration Type • Cybernetic • Human

  5. Background Current Humanoid Robot • Task Execution Type Skill • Behavior Control • Trajectory Control • Learning Skill • Manipulation Skills • Running HRP TWENDY-ONE Position Control • Actroid • Demonstration Type • Cybernetic • Human

  6. Approach Motion in the actual environment Skill • Behavior Control • Trajectory Control • Learning Skill • Manipulation Skills • Running Safety • Interactive Motion Control • Compliant Motion Control • Passive Motion Control • Sensing Skill • Compliant Mechanism Missing Functions

  7. reference ICRA 2010 Workshop : Workshop on Active Force Control (May 3rd @Anchorage) Achieving robust, compliant, interactive humanoid robots via active force control Torque Control HONDA Humanoid Robot BOSTON Dynamics ATR(SARCOS) DLR : JASTIN MEKA Disney Land

  8. Outline • Motivation / Background • Review 1 • Review 2 • Compliant Upper-Body Control • Passive Lower-Body Control

  9. Review 1

  10. Review 1 Hardware

  11. Review 1 Brain like system

  12. Review 1 MEKA robot (Commercial Product)

  13. Outline • Motivation / Background • Technical Paper 1 • Technical Paper 2 • Compliant Upper-Body Control • Passive Lower-Body Control

  14. Review 2

  15. Review 2 Approach

  16. Review 2 Approach

  17. Review 2 Approach

  18. Review 2 Merit

  19. Review 2 Experimental Test (SARCOS ROBOT)

  20. Conclusion Compliant Whole-Body Control of Humanoid Robot Most robotic control is accomplished with a position control system. In this framework, a motion is designed for every task so that the robot can accomplish its motion by following the designed trajectory and an individual joint position command is calculated. However, in most cases, the position controller only account for the contact through the end-effector and the contacts through another link cannot be allowed. Moreover, the position controller cannot account for the dynamics of the system and is difficult to model the dynamics related with the contact in uniformed representation. One approach for addressing this problem is to use torque control. The input torques for the system can be designed to accomplish the desired task as well as to compensate for dynamic effect of the contact with the environment. This provides the robot with higher performance in position tracking as well as in compliant motion. Not only the controller but also the robotic system and hardware is also designed for position control. If humanoid robots are designed for torque, that is actuated by the torque command, and dynamics is accounted to control the robot, advanced motion control can be achieved. In this review, (i) compliant mechanism for upper-body control and (ii) passive and compliant balance controller are reviewed.

  21. Objective Motion in the Actual Environment Skill • Behavior Control • Trajectory Control • Learning Skill • Manipulation Skills • Running • Measurement • Motion Design • Controller Design • Simulation Experimental Validation • Test • Whole-body compliant control • Compliance control of arm while walking • Arm controlled/guided walk • Contact force control at hands • Door knob manipulation • No visual feedback • No-self-collision avoidance • Programmed and fixed motion sequencer